/PROG  TL2_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1222;
CREATE		= DATE 12-04-21  TIME 11:53:38;
MODIFIED	= DATE 25-05-05  TIME 21:35:04;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 23;
MEMORY_SIZE	= 1634;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26:TOOL #2]=OFF    ;
   6:J P[1:CLEAR] 70% CNT30 ACC70    ;
   7:  OVERRIDE=50% ;
   8:L P[4:APPROACH] 600mm/sec CNT50 ACC70    ;
   9:  WAIT DI[26:TOOL #2]=OFF    ;
  10:L P[5:APPROACH] 300mm/sec CNT50    ;
  11:L P[6:APPROACH] 100mm/sec FINE    ;
  12:L P[7:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  13:  DO[21:TOOL2 POS]=ON ;
  14:  DO[13:REQ ATC CHUCK]=OFF ;
  15:  DO[14:REQ ATC UNCHUCK]=ON ;
  16:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  17:  WAIT   1.00(sec) ;
  18:  DO[14:REQ ATC UNCHUCK]=OFF ;
  19:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  20:L P[9:APPROACH] 300mm/sec CNT50    ;
  21:L P[10:APPROACH] 300mm/sec CNT50    ;
  22:L P[1:CLEAR] 600mm/sec CNT50    ;
  23:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3246.552  mm,	Y =  -862.831  mm,	Z =  -527.000  mm,
	W =   180.000 deg,	P =      .000 deg,	R =   -87.929 deg,
	E1=    18.100 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -21.160 deg,	J2=   -18.431 deg,	J3=    75.375 deg,
	J4=   -83.991 deg,	J5=  -110.331 deg,	J6=   285.781 deg,
	E1=    15.885 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3244.975  mm,	Y =  -630.180  mm,	Z = -1341.678  mm,
	W =  -179.713 deg,	P =    89.325 deg,	R =   -89.784 deg,
	E1=    17.147 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3244.975  mm,	Y =  -508.260  mm,	Z = -1341.678  mm,
	W =  -179.715 deg,	P =    89.325 deg,	R =   -89.785 deg,
	E1=    17.147 deg
};
P[7:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3241.190  mm,	Y =  -498.090  mm,	Z = -1442.006  mm,
	W =  -179.712 deg,	P =    89.325 deg,	R =   -89.782 deg,
	E1=    16.961 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3241.193  mm,	Y =  -683.532  mm,	Z = -1439.205  mm,
	W =  -179.702 deg,	P =    89.325 deg,	R =   -89.772 deg,
	E1=    16.961 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3226.553  mm,	Y =  -713.810  mm,	Z = -1246.278  mm,
	W =   -26.236 deg,	P =    89.984 deg,	R =    63.540 deg,
	E1=    15.882 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3226.812  mm,	Y =  -716.000  mm,	Z = -1048.927  mm,
	W =   179.358 deg,	P =    89.587 deg,	R =   -90.644 deg,
	E1=    15.885 deg
};
/END
